EP1722191A1 - Distance determination - Google Patents

Distance determination Download PDF

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Publication number
EP1722191A1
EP1722191A1 EP06018462A EP06018462A EP1722191A1 EP 1722191 A1 EP1722191 A1 EP 1722191A1 EP 06018462 A EP06018462 A EP 06018462A EP 06018462 A EP06018462 A EP 06018462A EP 1722191 A1 EP1722191 A1 EP 1722191A1
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EP
European Patent Office
Prior art keywords
channel
measuring
additional
measuring channel
distance
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Granted
Application number
EP06018462A
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German (de)
French (fr)
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EP1722191B1 (en
Inventor
Kai Waslowski
Gerhard Merettig
Siegfried Ringwald
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Sick AG
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Sick AG
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone

Definitions

  • the invention relates to a method and a device for determining the object distance between a working according to the principle of triangulation optoelectronic sensor and a probe object.
  • an emitted light spot is imaged on the object whose distance is to be determined and imaged by the object on a spatially resolving receiver.
  • the position of the reflected and / or remitted light spot on the receiver is dependent on the distance between the sensor and the object, which is also referred to as scanning distance.
  • the position of the center of gravity of the light spot on the receiver can thus be used as a measure of the distance to be determined.
  • the distribution of the intensity of the imaged light spot between the near range and the far range depends on the object distance, so that the difference between the output signals of the two ranges forms the measure for the object distance.
  • interference signals which are superimposed on the actual received signal, which originates from the light spot reflected and / or remitted by the object, can not be detected as such.
  • Sources of such interference signals are, for example, errors or soiling of the sensor optics, specular, glossy or strong contrasting surfaces either on the object whose distance is to be determined, or on interfering objects which are arranged laterally or behind the object to be sensed and are also referred to as background objects.
  • the object of the invention is to provide a way to determine the distance between the sensor and an object in the simplest and most reliable way independent of possibly existing, the actual received signal falsifying error sources with a working according to the principle of triangulation optoelectronic sensor.
  • the senor has at least one measuring channel between a transmitting unit for emitting electromagnetic scanning beams into the measuring range and a receiving unit for detecting scanning beams reflected and / or remitted from the measuring range, in that the sensor has at least one additional channel which, in addition to the transmitting unit and the receiving unit of the measuring channel, has a further transmitting unit and / or a further receiving unit, and in that the received signals of the measuring channel and of the additional channel are evaluated jointly for determining the object distance.
  • additional information is available through the additional channel, which can be used by the joint evaluation with the information from the measuring channel to identify sources of error as such and thus to reduce the influence of the error sources on the distance measurement.
  • the joint evaluation takes place in an evaluation unit assigned to the sensor, to which the receiving unit or receiving units are connected.
  • suitable mathematical evaluation methods e.g. Cross correlations between a stored or learned intensity distribution of the received signals and a current intensity distribution are used.
  • the measuring channel and the additional channel are operated jointly and in particular at least substantially simultaneously for each object distance.
  • the channels are driven in succession in succession, e.g. several transmitting units send out their scanning beams in short time intervals one after the other and / or several receiving units are read one after the other, in order to determine the respective object distance by common evaluation of the received signals.
  • only the received signal of the measuring channel is used to determine a distance value is determined by means of the received signal of the additional channel, if the received signals meet at least one additional criterion, and used with fulfilled additional criterion of the distance value as a measure of the object distance becomes.
  • the received signal of the measuring channel is used, after it has been checked with the aid of the received signal of the additional channel, whether the measurement meets certain requirements and the received signals meet certain additional conditions.
  • the additional channel can thus be decided whether the received signal of the measuring channel is corrupted or not.
  • the received signals of both the measuring channel and the additional channel are used to determine a distance value serving as a measure of the object distance.
  • the distance value is not determined solely with the aid of one of the received signals, but the received signals of both the measuring channel and the additional channel are used to determine the object distance.
  • the intensity distribution of the received signal is used on the receiving unit or on the receiving units for the distance determination.
  • spatially resolving detectors of basically any kind can be provided.
  • the position of a light spot reflected and / or remitted by the object and information about the circumstances of the light spot reflection and / or remission can be read from the detected intensity distribution (s).
  • a separate transmitting unit and preferably a common receiving unit is used for the measuring channel and the additional channel.
  • At least two receiving units are used, which are operated in such a way that the emitted scanning beams impinge on the object at different positions, so that a corresponding positional difference is detected on the receiving unit.
  • the two transmitting units emit the scanning beams in different directions to form the measuring channel and the additional channel. Then, in the case of joint evaluation, preferably corresponding characteristic regions of the received signals of the measuring channel and of the additional channel are respectively examined in each case as to whether they are shifted from each other by an expected degree, in particular.
  • the scanning beams of the measuring channel and the additional channel are focused at different distances, focusing preferably in one channel on a near range and in the other channel on a far range.
  • corresponding characteristic regions of the received signals of the measuring channel and of the additional channel are respectively examined to determine whether the emitted scanning beams are mapped in particular according to an expected degree of different sharpness.
  • the scanning beams of the additional channel are specifically and in particular unfocused, scattered, widened and / or diffused, so that a spatially extended scanning zone is emitted into the measuring range.
  • the scanning zone can preferably cover a substantial part of the touch object-side half-space of the sensor or at least substantially the entire half-space.
  • a difference between the received signals of the measuring channel and the additional channel is preferably formed in the joint evaluation.
  • the received signal of the additional channel is preferably first subtracted from the received signal of the measuring channel, negative difference values are then set equal to zero, and a resulting positive difference signal is then used for the distance determination.
  • the scattered light leading to interference signals can be simulated, so that critical viewing areas of the sensor can be monitored for the presence of interfering objects.
  • a plurality of transmitting units can be provided, but alternatively, on the receiving side, a subdivision into a plurality of receiving units and / or receiving optics can take place.
  • a common transmission unit is preferably used for the measuring channel and the additional channel.
  • the transmitting unit is arranged between the at least two receiving units and / or receiving optics, a center of gravity and the distance of the center of gravity from the position of the transmitting unit is determined for the received signals, and the average of the center of gravity distances as a measure of the Object distance used.
  • the at least two receiving units and / or receiving optics can be arranged on the same side of the transmitting unit and the distance between corresponding characteristic areas of the received signals of the measuring channel and of the additional channel can be used as a measure of the object distance.
  • a plurality of transmitting units is particularly suitable if specular or shiny obscuring objects are to be expected next to or behind the object to be sensed
  • a plurality of receiving units and / or receiving optics are used, in particular, when errors due to a relatively strongly contrasted tactile object are expected.
  • the solution of the problem underlying the invention is on the other hand by the features of the device claim 20 and in particular by a device for determining the object distance between a working according to the principle of triangulation optoelectronic sensor and a probe with at least one measuring channel between a transmitting unit for emitting electromagnetic scanning into the measuring range and a receiving unit for detecting scanning beams reflected and / or remitted from the measuring area, with at least one additional channel, which has a further transmitting unit and / or a further receiving unit in addition to the transmitting unit and the receiving unit of the measuring channel, and with an evaluation unit for the common evaluation of Receiving signals of the measuring channel and the additional channel for determining the object distance.
  • all transmitting and receiving units are arranged in a common sensor plane, which is preferably perpendicular to the distance direction between the sensor and the object corresponding to the shortest distance, which is also referred to as transmitting and / or receiving axis runs.
  • the or each transmitting unit is preferably provided in the form of an LED or a laser device, for example a laser diode.
  • the or each receiving unit is preferably provided in the form of a spatially resolving detector, for example in the form of a single or multi-row photodiode array, a CCD (Charge Coupled Device) or a PSD (Position Sensitive Device).
  • the sensor 11 comprises two spatially separated transmission units S1 and S2, spaced apart by ⁇ X in a sensor plane 21, e.g. in the form of an LED or a laser diode.
  • the transmission units S 1 and S2 have a common transmission optical system FS, e.g. assigned in the form of a lens for focusing the scanning beams.
  • the sensor 11 has a common receiving unit E for the two transmitting units S1, S2, e.g. in the form of a single or multi-row photodiode array, which is also arranged in the sensor plane 21.
  • the receiving unit E is an e.g. assigned as a lens receiving optics FE assigned. Alternatively, the receiving unit E could also be arranged outside the sensor plane 21.
  • a common sensor housing 23 which is indicated in Fig. 1a by a dashed line.
  • the sensor 11 serves to determine the distance D between the sensor 11 and a probe object 13 located in the measuring range of the sensor 11, referred to hereinafter as the object distance.
  • the sensor 11 serves e.g. the sensor plane 21, as indicated in Fig. 1a.
  • the sensor 11 operates on the triangulation principle. Scanned beams emitted by the transmitting units S1, S2 are reflected and / or remitted by the scanning object 13 after passing through the transmitting optics FS and imaged on the common receiving unit E by means of the receiving optics FE. Each transmitting unit S1, S2 generates a light spot or touch spot 19 on the scanning object 13, which is imaged on the receiving unit E and whose position on the receiving unit E is dependent on the object distance D.
  • the object distance D can already be determined from the position of a scanning spot on the receiving unit E.
  • the inventive provision of two separate, jointly operated channels, ie a measuring channel S1-E and an additional channel S2-E, allows a safe and reliable measurement of the object distance D, even if interference sources are present, the radiation emitted by the transmitting units S1, S2 radiation Reflect on the receiving unit E and / or remitt Schl and so distort the actual, originating from the target object 13 receive signals.
  • the interfering objects may, for example, be surfaces with high reflection and / or remission power, particular reflective surfaces, act next to or behind the sensing object 13. In Fig. 1a, such a specular spurious object 15 is shown schematically, which is located outside the transmission axis.
  • the intensity distribution of the transmitting unit S 1 is indicated by a solid line, that of the transmitting unit S2 by a dashed line.
  • Each intensity distribution has two characteristic regions, namely an illustrated useful signal with a center of gravity at X1 or X2, which corresponds to the touch spot 19 reflected and / or remitted by the touch object 13, as well as an interference signal (not shown).
  • the interference signals have on the receiving unit E a center of gravity relative to both transmitting units S1 and S2.
  • a measure of the correct object distance D form only the positions X1 and X2.
  • the evaluation of the position of the center of gravity of the interference signals would lead to a false object distance. If only a single measuring channel be present and thus only a single intensity curve would be available, then without additional information there would be the danger that the sensor 11 evaluates the interference signal as a useful signal and delivers a wrong distance value by evaluating the position of the center of gravity of the interference signals.
  • the interfering signal can be identified as such.
  • characteristic regions of the intensity profiles in the form of peaks which could correspond to a scanning spot reflected and / or remitted by the scanning object 13 are then examined as to whether they are the expected ones Dimension a ⁇ ⁇ X are shifted from each other. If this is not the case, then these characteristic areas are excluded during the distance determination, and either an error message is issued or further characteristic ranges of the intensity distributions are checked.
  • the senor 11 is in turn provided with two separate transmitting units S 1 and S2, which is associated with a common receiving unit, not shown.
  • each transmitting unit S1, S2 has its own transmitting optics FS1, FS2, e.g. assigned in the form of a lens.
  • the transmission optics FS1 and FS2 differ in that they focus the scanning beams emitted by the transmitting units S1 and S2 to different distances d1 and d2, respectively. Depending on the distance to be determined by a sensor object, not shown in FIG. 2a, the scanning spot of one transmitting unit S1 is thus sharper or less sharply imaged on the receiving unit than the scanning spot of the other transmitting unit S2.
  • the expected intensity distribution of the useful signals corresponds in principle to the distributions A, B, which are shown schematically in the upper representation of FIG. 2b. If the scanning object is relatively close to the sensor 11, the scanning spot of the one transmitting unit on the receiver is sharper than that of the other transmitting unit, the difference in sharpness being due to the different widths of the corresponding characteristic areas or peaks of the respective intensity distribution A or B can be detected. With a sensing object relatively far removed from the sensor 11, it is reversed, i. the other spot is sharper.
  • interference radiation for example due to a specular disturbing object 15 (see FIG. 2a)
  • the result is, for example, that in FIG
  • the interference signal of the interfering object 15 can thus have the consequence that it can no longer be assumed that the peaks for determining the correct. due to a difference expected in the sharpness of the imaged Tastflecken corresponding to an expected degree Object distance can be used.
  • FIGS. 3 a and 3 b shows another possibility of using an additional channel in order to render harmless the influence of an interfering object 15 which falsifies the measurement of the object distance D.
  • the sensor 11 comprises two transmitting units S 1 and S2 and a common receiving unit E.
  • a common transmitting optics FS for the two transmitting units S1, S2 in the form of a lens and for the receiving unit E a receiving optics FE, which is also designed as a lens.
  • the emitted scanning beams 25 are focused in order to generate a scanning spot on the scanning object 13, it is ensured in the additional channel S2-E that a scanning channel 25 is provided in comparison with the scanning beams 25 of the measuring channel S1-E spatially substantially extended scanning in the Tastmony remedy remedy half-space of the sensor 11 emitted becomes.
  • the scanning zone can be generated by targeted non-focusing, scattering, widening and / or diffuse emission of the scanning beams of the transmitting unit S2.
  • the scanning zone specifically reproduces interfering radiation, which is generated, for example, by scattering in the transmitting unit S2, by reflections and / or reflections on optical elements, such as e.g. Diaphragms or tubes as well as defects in the transmission optics FS, e.g. Scratches, dust or streaks on a transmitting lens, caused and reflected by a faulty object 15 on the receiving unit E and / or remittiert.
  • optical elements such as e.g. Diaphragms or tubes as well as defects in the transmission optics FS, e.g. Scratches, dust or streaks on a transmitting lens, caused and reflected by a faulty object 15 on the receiving unit E and / or remittiert.
  • FIG. 3b shows the intensity distributions of the received signals originating from the two transmitting units S1, S2. It is shown a case in which due to the above-mentioned sources of error in the measuring channel S1-E emitted radiation strikes the interfering object 15 and reflected by this on the receiving unit E and / or remittiert, whereby at the position X2 an intensity peak is generated.
  • the corresponding intensity peak of the transmitting unit S2 of the additional channel is higher than that of the measuring channel, in which focused scanning beams 25 are used, due to the targeted emulation of the interfering radiation.
  • the common evaluation of the received signals of the two channels takes place in that the received signal S2 of the additional channel from the received signal S 1 of the measuring channel is subtracted and negative difference values are set equal to zero. What remains is then a positive difference signal at the object distance D corresponding position X1 on the receiving unit E. This resulting positive difference signal is then used for the determination of the object distance D.
  • the transmitting units S1, S2 and the receiving unit E are arranged in the common sensor plane 21, wherein the transmitting unit S2 of the additional channel, by means of which the spatially extended scanning zone is generated, between the transmitting unit S 1 of the measuring channel and the receiving unit E is located ,
  • the image of the beams emitted by the two transmission units S1, S2 is made by the common transmission optics FS.
  • the intensities in the measuring channel and in the additional channel are selected such that at the position corresponding to the interfering object X2 on the receiving unit E, the additional channel delivers a higher signal than the measuring channel, as shown in Fig. 3b, so in the evaluation following the formation of the difference between the two received signals only at the object distance D corresponding position X1 a positive signal remains.
  • FIGS. 4a and 4b show a further embodiment of the invention, which is particularly suitable for rendering harmless the disturbing influence of so-called contrast edges 17 on the touch object 13.
  • Contrast edges can be, for example, transitions between dark and light areas in lettering on the touch object 13.
  • an area with low reflection and / or remission power is shown hatched.
  • the touch spot 19 emitted by the sensor 11 simultaneously covers a high area and an area with low reflectance and / or remission power.
  • the reception-side effect of the contrast edge 17 is shown in FIG. 4b, which indicates the received signals on the two receiving units E1, E2. In the area corresponding to the touch object surface with low reflection and / or remission power, the received signal is lower.
  • an additional channel is provided which provides an additional received signal in which the contrast edge 17 also affects two receiving signals are present, each having a originating from the contrast edge 17 characteristic area in which the intensity is leaps and bounds changes.
  • these characteristic regions can be easily identified and assigned to corresponding positions X1, X2 on the receiving units E1, E2. Regardless of the specific course of the intensity distributions of the received signals the distance ⁇ X of the positions X1, X2 of the characteristic areas forms a measure of the object distance D.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The method involves using received signal of measuring channel alone for the determination of the separation value. By means of the received signals of the auxiliary channel, it is determined whether the received signals fulfill an auxiliary criterion. The separation value is used as a measure for the object separation (D) for the fulfilled auxiliary criterion. An independent claim is also included for the device for the determination of object separation between opto-electronic sensor, working according to the triangulation principle, and tactile object.

Description

Die Erfindung betrifft ein Verfahren sowie eine Vorrichtung zum Bestimmen des Objektabstands zwischen einem nach dem Triangulationsprinzip arbeitenden optoelektronischen Sensor und einem Tastobjekt.The invention relates to a method and a device for determining the object distance between a working according to the principle of triangulation optoelectronic sensor and a probe object.

Bei bekannten Sensoren, die nach dem Triangulationsprinzip arbeiten, wird ein ausgesandter Lichtfleck auf dem Objekt, dessen Abstand bestimmt werden soll, abgebildet und vom Objekt auf einen ortsauflösenden Empfänger abgebildet. Die Position des reflektierten und/oder remittierten Lichtflecks auf dem Empfänger ist von dem auch als Tastweite bezeichneten Abstand zwischen dem Sensor und dem Objekt abhängig. Die Lage des Schwerpunkts des Lichtflecks auf dem Empfänger kann somit als ein Maß für den zu bestimmenden Abstand verwendet werden. Hierzu ist es bekannt, den lichtempfindlichen Bereich des Empfängers in zwei Unterbereiche zu unterteilen, nämlich einen Nahbereich und einen Fernbereich. Die Verteilung der Intensität des abgebildeten Lichtflecks zwischen dem Nahbereich und dem Fernbereich ist von dem Objektabstand abhängig, so daß die Differenz zwischen den Ausgangssignalen der beiden Bereiche das Maß für den Objektabstand bildet.In known sensors that work according to the principle of triangulation, an emitted light spot is imaged on the object whose distance is to be determined and imaged by the object on a spatially resolving receiver. The position of the reflected and / or remitted light spot on the receiver is dependent on the distance between the sensor and the object, which is also referred to as scanning distance. The position of the center of gravity of the light spot on the receiver can thus be used as a measure of the distance to be determined. For this purpose, it is known to subdivide the photosensitive area of the receiver into two subregions, namely a near area and a far area. The distribution of the intensity of the imaged light spot between the near range and the far range depends on the object distance, so that the difference between the output signals of the two ranges forms the measure for the object distance.

Nachteilig an diesen Sensoren ist, daß Störsignale, die dem eigentlichen Empfangssignal, das von dem vom Objekt reflektierten und/oder remittierten Lichtfleck stammt, überlagert sind, nicht als solche erkannt werden können. Quellen derartiger Störsignale sind beispielsweise Fehler oder Verschmutzungen der Sensoroptik, spiegelnde, glänzende oder stark kontrastbehaftete Flächen entweder auf dem Objekt, dessen Abstand bestimmt werden soll, oder auf Störobjekten, die seitlich oder hinter dem zu ertastenden Objekt angeordnet sind und auch als Hintergrundobjekte bezeichnet werden.A disadvantage of these sensors is that interference signals which are superimposed on the actual received signal, which originates from the light spot reflected and / or remitted by the object, can not be detected as such. Sources of such interference signals are, for example, errors or soiling of the sensor optics, specular, glossy or strong contrasting surfaces either on the object whose distance is to be determined, or on interfering objects which are arranged laterally or behind the object to be sensed and are also referred to as background objects.

Aufgabe der Erfindung ist es, eine Möglichkeit zu schaffen, mit einem nach dem Triangulationsprinzip arbeitenden optoelektronischen Sensor den Abstand zwischen dem Sensor und einem Objekt auf möglichst einfache und zuverlässige Weise unabhängig von eventuell vorhandenen, das eigentliche Empfangssignal verfälschenden Fehlerquellen zu bestimmen.The object of the invention is to provide a way to determine the distance between the sensor and an object in the simplest and most reliable way independent of possibly existing, the actual received signal falsifying error sources with a working according to the principle of triangulation optoelectronic sensor.

Die Lösung dieser Aufgabe erfolgt zum einen durch die Merkmale des Verfahrensanspruchs 1 und insbesondere dadurch, daß der Sensor wenigstens einen Meßkanal zwischen einer Sendeeinheit zum Aussenden elektromagnetischer Abtaststrahlen in den Meßbereich und einer Empfangseinheit zum Nachweisen von aus dem Meßbereich reflektierten und/oder remittierten Abtaststrahlen aufweist, daß der Sensor zumindest einen Zusatzkanal aufweist, der zusätzlich zu der Sendeeinheit und der Empfangseinheit des Meßkanals eine weitere Sendeeinheit und/oder eine weitere Empfangseinheit aufweist, und daß zur Bestimmung des Objektabstands die Empfangssignale des Meßkanals und des Zusatzkanals gemeinsam ausgewertet werden.This object is achieved on the one hand by the features of method claim 1 and in particular by the fact that the sensor has at least one measuring channel between a transmitting unit for emitting electromagnetic scanning beams into the measuring range and a receiving unit for detecting scanning beams reflected and / or remitted from the measuring range, in that the sensor has at least one additional channel which, in addition to the transmitting unit and the receiving unit of the measuring channel, has a further transmitting unit and / or a further receiving unit, and in that the received signals of the measuring channel and of the additional channel are evaluated jointly for determining the object distance.

Erfindungsgemäß stehen durch den Zusatzkanal zusätzliche Informationen zur Verfügung, die durch die gemeinsame Auswertung mit den Informationen aus dem Meßkanal herangezogen werden können, um Fehlerquellen als solche zu identifizieren und so den Einfluß der Fehlerquellen auf die Abstandsmessung zu reduzieren.According to the invention additional information is available through the additional channel, which can be used by the joint evaluation with the information from the measuring channel to identify sources of error as such and thus to reduce the influence of the error sources on the distance measurement.

Die gemeinsame Auswertung erfolgt in einer dem Sensor zugeordneten Auswerteeinheit, an welche die Empfangseinheit oder Empfangseinheiten angeschlossen sind. In Abhängigkeit von der Ausgestaltung des Verfahrens zur Abstandsbestimmung bzw. von dem Aufbau und der Betriebsweise des Sensors können jeweils geeignete mathematische Auswerteverfahren, z.B. Kreuzkorrelationen zwischen einer abgespeicherten oder eingelernten Intensitätsverteilung der Empfangssignale und einer aktuellen Intensitätsverteilung, zum Einsatz kommen.The joint evaluation takes place in an evaluation unit assigned to the sensor, to which the receiving unit or receiving units are connected. Depending on the configuration of the method for determining the distance or on the design and operation of the sensor, suitable mathematical evaluation methods, e.g. Cross correlations between a stored or learned intensity distribution of the received signals and a current intensity distribution are used.

Bevorzugt ist es, wenn der Meßkanal und der Zusatzkanal für jeden Objektabstand gemeinsam und insbesondere zumindest im wesentlichen gleichzeitig betrieben werden.It is preferred if the measuring channel and the additional channel are operated jointly and in particular at least substantially simultaneously for each object distance.

Hierunter fällt es auch, wenn die Kanäle in schneller Folge nacheinander angesteuert werden, indem z.B. mehrere Sendeeinheiten ihre Abtaststrahlen in kurzen Zeitabständen nacheinander aussenden und/oder mehrere Empfangseinheiten nacheinander ausgelesen werden, um den jeweiligen Objektabstand durch gemeinsame Auswertung der Empfangssignale zu bestimmen.This also applies if the channels are driven in succession in succession, e.g. several transmitting units send out their scanning beams in short time intervals one after the other and / or several receiving units are read one after the other, in order to determine the respective object distance by common evaluation of the received signals.

Gemäß einer Ausführungsform der Erfindung kann vorgesehen werden, daß allein das Empfangssignal des Meßkanals zur Bestimmung eines Abstandswertes verwendet wird, mittels des Empfangssignals des Zusatzkanals festgestellt wird, ob die Empfangssignale zumindest ein Zusatzkriterium erfüllen, und bei erfülltem Zusatzkriterium der Abstandswert als Maß für den Objektabstand verwendet wird.According to one embodiment of the invention it can be provided that only the received signal of the measuring channel is used to determine a distance value is determined by means of the received signal of the additional channel, if the received signals meet at least one additional criterion, and used with fulfilled additional criterion of the distance value as a measure of the object distance becomes.

Für die eigentliche Abstandsmessung wird somit allein das Empfangssignal des Meßkanals verwendet, nachdem mit Hilfe des Empfangssignals des Zusatzkanals überprüft worden ist, ob die Messung gewissen Anforderungen genügt und die Empfangssignale bestimmte Zusatzbedingungen erfüllen. Mittels des Zusatzkanals kann somit entschieden werden, ob das Empfangssignal des Meßkanals verfälscht ist oder nicht.For the actual distance measurement, therefore, only the received signal of the measuring channel is used, after it has been checked with the aid of the received signal of the additional channel, whether the measurement meets certain requirements and the received signals meet certain additional conditions. By means of the additional channel can thus be decided whether the received signal of the measuring channel is corrupted or not.

Gemäß einer alternativen Ausführungsform der Erfindung kann vorgesehen sein, daß die Empfangssignale sowohl des Meßkanals als auch des Zusatzkanals zur Bestimmung eines als Maß für den Objektabstand dienenden Abstandswertes verwendet werden.According to an alternative embodiment of the invention it can be provided that the received signals of both the measuring channel and the additional channel are used to determine a distance value serving as a measure of the object distance.

Hierbei wird der Abstandswert nicht allein mit Hilfe eines der Empfangssignale ermittelt, sondern es werden die Empfangssignale sowohl des Meßkanals als auch des Zusatzkanals herangezogen, um den Objektabstand zu bestimmen.In this case, the distance value is not determined solely with the aid of one of the received signals, but the received signals of both the measuring channel and the additional channel are used to determine the object distance.

Bevorzugt ist es, wenn im Meßkanal und/oder im Zusatzkanal jeweils die Intensitätsverteilung des Empfangssignals auf der Empfangseinheit oder auf den Empfangseinheiten für die Abstandsbestimmung verwendet wird.It is preferred if in the measuring channel and / or in the additional channel in each case the intensity distribution of the received signal is used on the receiving unit or on the receiving units for the distance determination.

Als Empfangseinheiten können erfindungsgemäß ortsauflösende Detektoren von grundsätzlich beliebiger Art vorgesehen werden. Die Position eines vom Objekt reflektierten und/oder remittierten Lichtflecks und Informationen über die Umstände der Lichtfleckreflexion und/oder -remission können aus der oder den nachgewiesenen Intensitätsverteilungen abgelesen werden.As receiving units according to the invention, spatially resolving detectors of basically any kind can be provided. The position of a light spot reflected and / or remitted by the object and information about the circumstances of the light spot reflection and / or remission can be read from the detected intensity distribution (s).

In einem bevorzugten Ausführungsbeispiel der Erfindung wird für den Meßkanal und den Zusatzkanal jeweils eine eigene Sendeeinheit und vorzugsweise eine gemeinsame Empfangseinheit verwendet.In a preferred embodiment of the invention, a separate transmitting unit and preferably a common receiving unit is used for the measuring channel and the additional channel.

Es wird bei dieser Erfindungsvariante mit zumindest zwei Empfangseinheiten gearbeitet, die so betrieben werden, daß die ausgesandten Abtaststrahlen an unterschiedlichen Positionen auf dem Objekt auftreffen, so daß auf der Empfangseinheit ein entsprechender Positionsunterschied detektiert wird.In this variant of the invention, at least two receiving units are used, which are operated in such a way that the emitted scanning beams impinge on the object at different positions, so that a corresponding positional difference is detected on the receiving unit.

Dabei können zur Bildung des Meßkanals und des Zusatzkanals die beiden Sendeeinheiten die Abtaststrahlen in unterschiedliche Richtungen aussenden. Dann werden vorzugsweise bei der gemeinsamen Auswertung einander entsprechende charakteristische Bereiche der Empfangssignale des Meßkanals und des Zusatzkanals jeweils daraufhin untersucht, ob sie insbesondere um ein erwartetes Maß gegeneinander verschoben sind.In this case, the two transmitting units emit the scanning beams in different directions to form the measuring channel and the additional channel. Then, in the case of joint evaluation, preferably corresponding characteristic regions of the received signals of the measuring channel and of the additional channel are respectively examined in each case as to whether they are shifted from each other by an expected degree, in particular.

Alternativ ist bei der Verwendung mehrerer Sendeeinheiten gemäß einer weiteren Ausführungsform der Erfindung vorgesehen, daß die Abtaststrahlen des Meßkanals und des Zusatzkanals auf unterschiedliche Entfernungen fokussiert werden, wobei bevorzugt in einem Kanal auf einen Nahbereich und im anderen Kanal auf einen Fernbereich fokussiert wird.Alternatively, when using a plurality of transmitting units according to a further embodiment of the invention, it is provided that the scanning beams of the measuring channel and the additional channel are focused at different distances, focusing preferably in one channel on a near range and in the other channel on a far range.

Dann werden vorzugsweise bei der gemeinsamen Auswertung einander entsprechende charakteristische Bereiche der Empfangssignale des Meßkanals und des Zusatzkanals jeweils daraufhin untersucht, ob die ausgesandten Abtaststrahlen mit insbesondere gemäß einem erwarteten Maß unterschiedlicher Schärfe abgebildet werden.Then, in the case of joint evaluation, preferably corresponding characteristic regions of the received signals of the measuring channel and of the additional channel are respectively examined to determine whether the emitted scanning beams are mapped in particular according to an expected degree of different sharpness.

In einer weiteren, mehrere Sendeeinheiten verwendenden Alternative ist gemäß einer weiteren Ausführungsform der Erfindung vorgesehen, daß die Abtaststrahlen des Zusatzkanals gezielt derart und insbesondere unfokussiert, gestreut, aufgeweitet und/oder diffus ausgesandt werden, daß eine räumlich ausgedehnte Abtastzone in den Meßbereich ausgesandt wird. Dabei kann die Abtastzone bevorzugt einen wesentlichen Teil des tastobjektseitigen Halbraums des Sensors oder zumindest im wesentlichen den gesamten Halbraum abdecken.In a further alternative using several transmitting units, according to a further embodiment of the invention, it is provided that the scanning beams of the additional channel are specifically and in particular unfocused, scattered, widened and / or diffused, so that a spatially extended scanning zone is emitted into the measuring range. In this case, the scanning zone can preferably cover a substantial part of the touch object-side half-space of the sensor or at least substantially the entire half-space.

Dann wird bei der gemeinsamen Auswertung vorzugsweise eine Differenz zwischen den Empfangssignalen des Meßkanals und des Zusatzkanals gebildet. Hierbei wird bevorzugt zunächst das Empfangssignal des Zusatzkanals vom Empfangssignal des Meßkanals abgezogen, negative Differenzwerte werden anschließend gleich Null gesetzt, und ein resultierendes positives Differenzsignal wird dann für die Abstandsbestimmung verwendet.Then, a difference between the received signals of the measuring channel and the additional channel is preferably formed in the joint evaluation. In this case, the received signal of the additional channel is preferably first subtracted from the received signal of the measuring channel, negative difference values are then set equal to zero, and a resulting positive difference signal is then used for the distance determination.

Mit der räumlich ausgedehnten Abtastzone kann das zu Störsignalen führende Streulicht nachgebildet werden, so daß kritische Sichtbereiche des Sensors auf das Vorhandensein von Störobjekten überwacht werden können.With the spatially extended scanning zone, the scattered light leading to interference signals can be simulated, so that critical viewing areas of the sensor can be monitored for the presence of interfering objects.

Erfindungsgemäß können nicht nur mehrere Sendeeinheiten vorgesehen werden, sondern es kann alternativ auch empfangsseitig eine Unterteilung in mehrere Empfangseinheiten und/oder Empfangsoptiken erfolgen. Dabei wird vorzugsweise für den Meßkanal und den Zusatzkanal eine gemeinsame Sendeeinheit verwendet.According to the invention, not only a plurality of transmitting units can be provided, but alternatively, on the receiving side, a subdivision into a plurality of receiving units and / or receiving optics can take place. In this case, a common transmission unit is preferably used for the measuring channel and the additional channel.

Gemäß einer bevorzugten Variante der Erfindung ist hierbei die Sendeeinheit zwischen den wenigstens zwei Empfangseinheiten und/oder Empfangsoptiken angeordnet, wird für die Empfangssignale jeweils ein Schwerpunkt und der Abstand des Schwerpunkts von der Position der Sendeeinheit ermittelt, und wird der Mittelwert der Schwerpunktsabstände als Maß für den Objektabstand verwendet.According to a preferred variant of the invention, in this case the transmitting unit is arranged between the at least two receiving units and / or receiving optics, a center of gravity and the distance of the center of gravity from the position of the transmitting unit is determined for the received signals, and the average of the center of gravity distances as a measure of the Object distance used.

Gemäß einer alternativen Variante der Erfindung können die wenigstens zwei Empfangseinheiten und/oder Empfangsoptiken auf derselben Seite der Sendeeinheit angeordnet und der Abstand zwischen einander entsprechenden charakteristischen Bereichen der Empfangssignale des Meßkanals und des Zusatzkanals als Maß für den Objektabstand verwendet werden.According to an alternative variant of the invention, the at least two receiving units and / or receiving optics can be arranged on the same side of the transmitting unit and the distance between corresponding characteristic areas of the received signals of the measuring channel and of the additional channel can be used as a measure of the object distance.

Während die Verwendung mehrerer Sendeeinheiten insbesondere dann in Frage kommt, wenn neben oder hinter dem zu ertastenden Objekt spiegelnde oder glänzende Störobjekte zu erwarten sind, werden mehrere Empfangseinheiten und/oder Empfangsoptiken insbesondere dann eingesetzt, wenn Fehler aufgrund eines relativ stark kontrastbehafteten Tastobjekts erwartet werden.While the use of a plurality of transmitting units is particularly suitable if specular or shiny obscuring objects are to be expected next to or behind the object to be sensed, a plurality of receiving units and / or receiving optics are used, in particular, when errors due to a relatively strongly contrasted tactile object are expected.

Alle in den Ansprüchen, der Beschreibungseinleitung und der nachfolgenden Figurenbeschreibung erwähnten Varianten der Erfindung können - sofern sie einander nicht widersprechen - auch miteinander kombiniert werden, wodurch eine besonders sichere und zuverlässige Bestimmung des Objektabstands möglich ist.All in the claims, the introduction to the description and the following description of the figures mentioned variants of the invention can - if they do not contradict each other - are also combined, whereby a particularly secure and reliable determination of the object distance is possible.

Die Lösung der der Erfindung zugrundeliegenden Aufgabe erfolgt zum anderen durch die Merkmale des Vorrichtungsanspruchs 20 und insbesondere durch eine Vorrichtung zum Bestimmen des Objektsabstands zwischen einem nach dem Triangulationsprinzip arbeitenden optoelektronischen Sensor und einem Tastobjekt mit wenigstens einem Meßkanal zwischen einer Sendeeinheit zum Aussenden elektromagnetischer Abtaststrahlen in den Meßbereich und einer Empfangseinheit zum Nachweisen von aus dem Meßbereich reflektierten und/oder remittierten Abtaststrahlen, mit zumindest einem Zusatzkanal, der zusätzlich zu der Sendeeinheit und der Empfangseinheit des Meßkanals eine weitere Sendeeinheit und/oder eine weitere Empfangseinheit aufweist, und mit einer Auswerteeinheit zur gemeinsamen Auswertung der Empfangssignale des Meßkanals und des Zusatzkanals zur Bestimmung des Objektabstands.The solution of the problem underlying the invention is on the other hand by the features of the device claim 20 and in particular by a device for determining the object distance between a working according to the principle of triangulation optoelectronic sensor and a probe with at least one measuring channel between a transmitting unit for emitting electromagnetic scanning into the measuring range and a receiving unit for detecting scanning beams reflected and / or remitted from the measuring area, with at least one additional channel, which has a further transmitting unit and / or a further receiving unit in addition to the transmitting unit and the receiving unit of the measuring channel, and with an evaluation unit for the common evaluation of Receiving signals of the measuring channel and the additional channel for determining the object distance.

Vorzugsweise sind alle Sende- und Empfangseinheiten in einer gemeinsamen Sensorebene angeordnet, die bevorzugt senkrecht zu der den kürzesten Abstand zwischen dem Sensor und dem Objekt entsprechenden Abstandsrichtung, die auch als Sende- und/oder Empfangsachse bezeichnet wird, verläuft.Preferably, all transmitting and receiving units are arranged in a common sensor plane, which is preferably perpendicular to the distance direction between the sensor and the object corresponding to the shortest distance, which is also referred to as transmitting and / or receiving axis runs.

Bevorzugt ist die oder jede Sendeeinheit in Form einer LED oder einer Lasereinrichtung, beispielsweise einer Laserdiode, vorgesehen. Des weiteren ist vorzugsweise die oder jede Empfangseinheit in Form eines ortsauflösenden Detektors z.B. in Form eines ein- oder mehrreihigen Fotodioden-Arrays, einer CCD (Charge Coupled Device) oder einer PSD (Position Sensitive Device) vorgesehen.The or each transmitting unit is preferably provided in the form of an LED or a laser device, for example a laser diode. Furthermore, the or each receiving unit is preferably provided in the form of a spatially resolving detector, for example in the form of a single or multi-row photodiode array, a CCD (Charge Coupled Device) or a PSD (Position Sensitive Device).

Weitere Ausführungsformen der Erfindung sind auch in den Unteransprüchen, der Beschreibung sowie der Zeichnung angegeben.Further embodiments of the invention are also specified in the subclaims, the description and the drawing.

Die Erfindung wird im folgenden beispielhaft unter Bezugnahme auf die Zeichnung beschrieben. Es zeigen:

Fig. 1 - 4
jeweils in schematischen Darstellungen verschiedene Ausführungsformen der Erfindung, und zwar jeweils eine Sensoranordnung (Fig. 1a, 2a, 3a, 4a) und empfangsseitige Intensitätsverteilungen (Fig. 1b, 2b, 3b, 4b).
The invention will now be described by way of example with reference to the drawings. Show it:
Fig. 1 - 4th
in schematic representations of various embodiments of the invention, in each case a sensor arrangement (FIGS. 1a, 2a, 3a, 4a) and receiving-side intensity distributions (FIGS. 1b, 2b, 3b, 4b).

In dem Ausführungsbeispiel der Erfindung gemäß Fig. 1a und 1b umfaßt der Sensor 11 zwei räumlich getrennte, in einer Sensorebene 21 um ΔX beabstandete Sendeeinheiten S1 und S2 z.B. in Form einer LED oder einer Laserdiode. Den Sendeeinheiten S 1 und S2 ist eine gemeinsame Sendeoptik FS z.B. in Form einer Linse zur Fokussierung der Abtaststrahlen zugeordnet.In the embodiment of the invention according to FIGS. 1a and 1b, the sensor 11 comprises two spatially separated transmission units S1 and S2, spaced apart by ΔX in a sensor plane 21, e.g. in the form of an LED or a laser diode. The transmission units S 1 and S2 have a common transmission optical system FS, e.g. assigned in the form of a lens for focusing the scanning beams.

Des weiteren weist der Sensor 11 für die beiden Sendeeinheiten S1, S2 eine gemeinsame Empfangseinheit E z.B. in Form eines ein- oder mehrreihigen Fotodioden-Arrays auf, die ebenfalls in der Sensorebene 21 angeordnet ist. Der Empfangseinheit E ist eine z.B. als Linse ausgebildete Empfangsoptik FE zugeordnet. Alternativ könnte die Empfangseinheit E auch außerhalb der Sensorebene 21 angeordnet sein.Furthermore, the sensor 11 has a common receiving unit E for the two transmitting units S1, S2, e.g. in the form of a single or multi-row photodiode array, which is also arranged in the sensor plane 21. The receiving unit E is an e.g. assigned as a lens receiving optics FE assigned. Alternatively, the receiving unit E could also be arranged outside the sensor plane 21.

Die erwähnten Sensorkomponenten sind in einem gemeinsamen Sensorgehäuse 23 angeordnet, das in Fig. 1a durch eine strichpunktierte Linie angedeutet ist.The sensor components mentioned are arranged in a common sensor housing 23, which is indicated in Fig. 1a by a dashed line.

Der Sensor 11 dient dazu, den im folgenden als Objektabstand bezeichneten Abstand D zwischen dem Sensor 11 und einem im Meßbereich des Sensors 11 liegenden Tastobjekt 13 zu bestimmen. Als Bezugsebene für die Abstandsbestimmung dient am Sensor 11 z.B. die Sensorebene 21, wie es in Fig. 1a angedeutet ist.The sensor 11 serves to determine the distance D between the sensor 11 and a probe object 13 located in the measuring range of the sensor 11, referred to hereinafter as the object distance. As the reference plane for the distance determination, the sensor 11 serves e.g. the sensor plane 21, as indicated in Fig. 1a.

Der Sensor 11 arbeitet nach dem Triangulationsprinzip. Von den Sendeeinheiten S1, S2 ausgesandte Abtaststrahlen werden nach Durchgang durch die Sendeoptik FS vom Tastobjekt 13 reflektiert und/oder remittiert und mittels der Empfangsoptik FE auf der gemeinsamen Empfangseinheit E abgebildet. Jede Sendeeinheit S1, S2 erzeugt auf dem Tastobjekt 13 einen Lichtfleck oder Tastfleck 19, der auf der Empfangseinheit E abgebildet wird und dessen Position auf der Empfangseinheit E vom Objektabstand D abhängig ist.The sensor 11 operates on the triangulation principle. Scanned beams emitted by the transmitting units S1, S2 are reflected and / or remitted by the scanning object 13 after passing through the transmitting optics FS and imaged on the common receiving unit E by means of the receiving optics FE. Each transmitting unit S1, S2 generates a light spot or touch spot 19 on the scanning object 13, which is imaged on the receiving unit E and whose position on the receiving unit E is dependent on the object distance D.

Wenn keine Störquellen vorhanden sind, dann kann bereits aus der Position eines Tastflecks auf der Empfangseinheit E der Objektabstand D bestimmt werden.If no interference sources are present, then the object distance D can already be determined from the position of a scanning spot on the receiving unit E.

Das erfindungsgemäße Vorsehen von zwei separaten, gemeinsam betriebenen Kanälen, d.h. einem Meßkanal S1-E und einem Zusatzkanal S2-E, gestattet eine sichere und zuverlässige Messung des Objektabstands D auch dann, wenn Störquellen vorhanden sind, die von den Sendeeinheiten S1, S2 ausgesandte Strahlung auf die Empfangseinheit E reflektieren und/oder remittieren und so die eigentlichen, vom Tastobjekt 13 stammenden Empfangssignale verfälschen. Bei den Störobjekten kann es sich beispielsweise um Flächen mit hohem Reflexions- und/oder Remissionsvermögen, insbesondere spiegelnde Flächen, neben oder hinter dem Tastobjekt 13 handeln. In Fig. 1a ist ein derartiges spiegelndes Störobjekt 15 schematisch dargestellt, das sich außerhalb der Sendeachse befindet.The inventive provision of two separate, jointly operated channels, ie a measuring channel S1-E and an additional channel S2-E, allows a safe and reliable measurement of the object distance D, even if interference sources are present, the radiation emitted by the transmitting units S1, S2 radiation Reflect on the receiving unit E and / or remittieren and so distort the actual, originating from the target object 13 receive signals. The interfering objects may, for example, be surfaces with high reflection and / or remission power, particular reflective surfaces, act next to or behind the sensing object 13. In Fig. 1a, such a specular spurious object 15 is shown schematically, which is located outside the transmission axis.

Der Einfluß des Störobjekts 15 sowie die erfindungsgemäße Vorgehensweise, um das Störsignal von den Nutzsignalen zu trennen, sind in Fig. 1b angedeutet.The influence of the interfering object 15 and the procedure according to the invention in order to separate the interference signal from the useful signals are indicated in FIG. 1b.

Fig. 1b zeigt die Verteilung der Intensität I der auf die Empfangseinheit E insgesamt reflektierten und/oder remittierten Strahlung von Nutzsignalen in einer Richtung X. Die Intensitätsverteilung der Sendeeinheit S 1 ist mit einer durchgezogenen, diejenige der Sendeeinheit S2 mit einer gestrichelten Linie angedeutet. Jede Intensitätsverteilung weist zwei charakteristische Bereiche auf, nämlich ein dargestelltes Nutzsignal mit einem Schwerpunkt bei X1 bzw. X2, das dem vom Tastobjekt 13 reflektierten und/oder remittierten Tastfleck 19 entspricht, sowie ein nicht dargestelltes Störsignal. Die Störsignale weisen auf der Empfangseinheit E einen bezogen auf beide Sendeeinheiten S1 und S2 ortsgleichen Schwerpunkt auf.1 b shows the distribution of the intensity I of the radiation of useful signals reflected and / or remitted on the receiving unit E in one direction X. The intensity distribution of the transmitting unit S 1 is indicated by a solid line, that of the transmitting unit S2 by a dashed line. Each intensity distribution has two characteristic regions, namely an illustrated useful signal with a center of gravity at X1 or X2, which corresponds to the touch spot 19 reflected and / or remitted by the touch object 13, as well as an interference signal (not shown). The interference signals have on the receiving unit E a center of gravity relative to both transmitting units S1 and S2.

Ein Maß für den korrekten Objektabstand D bilden lediglich die Positionen X1 und X2. Die Auswertung der Position des Schwerpunkts der Störsignale würde zu einem falschen Objektabstand führen. Wenn lediglich ein einziger Meßkanal vorhanden sein und somit nur ein einziger Intensitätsverlauf zur Verfügung stehen würde, dann bestünde ohne Zusatzinformationen die Gefahr, daß der Sensor 11 das Störsignal als Nutzsignal wertet und durch die Auswertung der Position des Schwerpunkts der Störsignale einen falschen Abstandswert liefert.A measure of the correct object distance D form only the positions X1 and X2. The evaluation of the position of the center of gravity of the interference signals would lead to a false object distance. If only a single measuring channel be present and thus only a single intensity curve would be available, then without additional information there would be the danger that the sensor 11 evaluates the interference signal as a useful signal and delivers a wrong distance value by evaluating the position of the center of gravity of the interference signals.

Durch das erfindungsgemäße Vorsehen eines Zusatzkanals, der in dem vorliegenden Ausführungsbeispiel durch Vorsehen einer zusätzlichen Sendeeinheit S2 realisiert wird, kann jedoch das Störsignal als solches identifiziert werden. Ausgenutzt wird hierzu der Umstand, daß der Abstand a ΔX der beiden Empfangssignale auf der Empfangseinheit E proportional zum Abstand ΔX der beiden Sendeeinheiten S1, S2 in der entsprechenden Richtung ist. Der Proportionalitätsfaktor a ist von den Abbildungseigenschaften der Sendeoptik FS und der Empfangsoptik FE abhängig, d.h. es gilt a = f (FS, FE). Diese Beziehung gilt für alle Objektabstände D, d.h. der Zusammenhang zwischen ΔX einerseits und a · ΔX andererseits ist unabhängig vom Objektabstand D.By providing a supplemental channel according to the invention, which is realized in the present embodiment by providing an additional transmitting unit S2, however, the interfering signal can be identified as such. This is exploited for the fact that the distance a ΔX of the two received signals on the receiving unit E is proportional to the distance ΔX of the two transmitting units S1, S2 in the corresponding direction. The proportionality factor a is dependent on the imaging characteristics of the transmitting optics FS and the receiving optics FE, i. it holds that a = f (FS, FE). This relationship holds for all object distances D, i. the relationship between ΔX on the one hand and a · ΔX on the other hand is independent of the object distance D.

Bei der erfindungsgemäßen gemeinsamen Auswertung der Empfangssignale des Meßkanals S1-E und des Zusatzkanals S2-E werden charakteristische Bereiche der Intensitätsverläufe in Form von Peaks, die einem vom Tastobjekt 13 reflektierten und/oder remittierten Tastfleck entsprechen könnten, daraufhin untersucht, ob sie um das erwartete Maß a · ΔX gegeneinander verschoben sind. Ist dies nicht der Fall, dann scheiden diese charakteristischen Bereiche bei der Abstandsbestimmung aus, und es erfolgt entweder eine Fehlermeldung oder es werden weitere charakteristische Bereiche der Intensitätsverteilungen überprüft.In the case of the inventive joint evaluation of the received signals of the measuring channel S1-E and of the additional channel S2-E, characteristic regions of the intensity profiles in the form of peaks which could correspond to a scanning spot reflected and / or remitted by the scanning object 13 are then examined as to whether they are the expected ones Dimension a · ΔX are shifted from each other. If this is not the case, then these characteristic areas are excluded during the distance determination, and either an error message is issued or further characteristic ranges of the intensity distributions are checked.

Wird dagegen festgestellt, daß zwei Peaks der Intensitätsverteilungen um das erwartete Maß a ΔX gegeneinander verschoben sind, dann wird wenigstens einer dieser Peaks zur Bestimmung des Objektabstands D herangezogen, wobei die Lage von dessen Schwerpunkt X1 bzw. X2 ein Maß für den Objektabstand D darstellt.If, on the other hand, it is determined that two peaks of the intensity distributions are shifted by the expected dimension a ΔX, then at least one of these peaks is used to determine the object distance D, the position of its center of gravity X1 or X2 representing a measure of the object distance D.

In dem in Fig. 2a und 2b veranschaulichten Ausführungsbeispiel der Erfindung ist der Sensor 11 wiederum mit zwei separaten Sendeeinheiten S 1 und S2 versehen, denen eine gemeinsame, nicht dargestellte Empfangseinheit zugeordnet ist. In dieser Ausführungsform ist jeder Sendeeinheit S1, S2 eine eigene Sendeoptik FS1, FS2 z.B. in Form einer Linse zugeordnet.In the illustrated in Fig. 2a and 2b embodiment of the invention, the sensor 11 is in turn provided with two separate transmitting units S 1 and S2, which is associated with a common receiving unit, not shown. In this embodiment, each transmitting unit S1, S2 has its own transmitting optics FS1, FS2, e.g. assigned in the form of a lens.

Die Sendeoptiken FS1 und FS2 unterscheiden sich dadurch, daß sie die von den Sendeeinheiten S 1 und S2 ausgesandten Abtaststrahlen auf unterschiedliche Entfernungen d1 bzw. d2 fokussieren. In Abhängigkeit von dem zu ermittelnden Abstand eines in Fig. 2a nicht dargestellten Tastobjekts vom Sensor 11 wird somit der Tastfleck der einen Sendeeinheit S 1 schärfer oder weniger scharf auf der Empfangseinheit abgebildet als der Tastfleck der anderen Sendeeinheit S2.The transmission optics FS1 and FS2 differ in that they focus the scanning beams emitted by the transmitting units S1 and S2 to different distances d1 and d2, respectively. Depending on the distance to be determined by a sensor object, not shown in FIG. 2a, the scanning spot of one transmitting unit S1 is thus sharper or less sharply imaged on the receiving unit than the scanning spot of the other transmitting unit S2.

Die erwartete Intensitätsverteilung der Nutzsignale entspricht prinzipiell den Verteilungen A, B, die in der oberen Darstellung der Fig. 2b schematisch gezeigt sind. Befindet sich das Tastobjekt relativ nahe am Sensor 11, so wird der Tastfleck der einen Sendeeinheit auf dem Empfänger schärfer abgebildet als derjenige der anderen Sendeeinheit, wobei der Unterschied in der Schärfe durch die unterschiedlichen Breiten der einander entsprechenden charakteristischen Bereiche oder Peaks der jeweiligen Intensitätsverteilung A oder B detektiert werden kann. Bei einem relativ weit vom Sensor 11 entfernten Tastobjekt ist es umgekehrt, d.h. es wird der andere Tastfleck schärfer abgebildet.The expected intensity distribution of the useful signals corresponds in principle to the distributions A, B, which are shown schematically in the upper representation of FIG. 2b. If the scanning object is relatively close to the sensor 11, the scanning spot of the one transmitting unit on the receiver is sharper than that of the other transmitting unit, the difference in sharpness being due to the different widths of the corresponding characteristic areas or peaks of the respective intensity distribution A or B can be detected. With a sensing object relatively far removed from the sensor 11, it is reversed, i. the other spot is sharper.

Fällt Störstrahlung, z.B. aufgrund eines spiegelnden Störobjekts 15 (vgl. Fig. 2a), auf die Empfangseinheit, so ergibt sich beispielsweise die in der unteren Darstellung von Fig. 2b schematisch gezeigte Intensitätsverteilung C. Das Störsignal des Störobjekts 15 kann also zur Folge haben, daß nicht mehr aufgrund eines einem erwarteten Maß entsprechenden Unterschieds in der Schärfe der abgebildeten Tastflecken davon ausgegangen werden kann, daß die Peaks zur Bestimmung des korrekten Objektabstands herangezogen werden können.If interference radiation, for example due to a specular disturbing object 15 (see FIG. 2a), is incident on the receiving unit, the result is, for example, that in FIG The interference signal of the interfering object 15 can thus have the consequence that it can no longer be assumed that the peaks for determining the correct. due to a difference expected in the sharpness of the imaged Tastflecken corresponding to an expected degree Object distance can be used.

Durch den Nachweis eines nicht den erwarteten Intensitätsverlauf aufweisenden Empfangssignals kann also das Vorhandensein eines die Messung verfälschenden Störobjekts 15 erkannt werden.By detecting a received signal which does not have the expected intensity profile, it is thus possible to detect the presence of an interfering object 15 which falsifies the measurement.

Das Ausführungsbeispiel der Erfindung gemäß Fig. 3a und 3b zeigt eine weitere Möglichkeit, einen Zusatzkanal zu nutzen, um den die Messung des Objektabstands D verfälschenden Einfluß eines Störobjekts 15 unschädlich zu machen.The embodiment of the invention according to FIGS. 3 a and 3 b shows another possibility of using an additional channel in order to render harmless the influence of an interfering object 15 which falsifies the measurement of the object distance D.

Der Sensor 11 umfaßt zwei Sendeeinheiten S 1 und S2 sowie eine gemeinsame Empfangseinheit E. Es sind eine gemeinsame Sendeoptik FS für die beiden Sendeeinheiten S1, S2 in Form einer Linse sowie für die Empfangseinheit E eine Empfangsoptik FE vorgesehen, die ebenfalls als Linse ausgebildet ist.The sensor 11 comprises two transmitting units S 1 and S2 and a common receiving unit E. There are provided a common transmitting optics FS for the two transmitting units S1, S2 in the form of a lens and for the receiving unit E a receiving optics FE, which is also designed as a lens.

Während im von der Sendeeinheit S 1 und der Empfangseinheit E gebildeten Meßkanal S1-E die ausgesandten Abtaststrahlen 25 fokussiert werden, um auf dem Tastobjekt 13 einen Tastfleck zu erzeugen, wird im Zusatzkanal S2-E dafür gesorgt, daß eine im Vergleich zu den Abtaststrahlen 25 des Meßkanals S1-E räumlich wesentlich weiter ausgedehnte Abtastzone in den tastobjektseitigen Halbraum des Sensors 11 ausgesandt wird. Die Abtastzone kann durch gezielte Nicht-Fokussierung, Streuung, Aufweitung und/oder diffuse Aussendung der Abtaststrahlen der Sendeeinheit S2 erzeugt werden.While in the measuring channel S1-E formed by the transmitting unit S 1 and the receiving unit E, the emitted scanning beams 25 are focused in order to generate a scanning spot on the scanning object 13, it is ensured in the additional channel S2-E that a scanning channel 25 is provided in comparison with the scanning beams 25 of the measuring channel S1-E spatially substantially extended scanning in the Tastobjektseitigen half-space of the sensor 11 emitted becomes. The scanning zone can be generated by targeted non-focusing, scattering, widening and / or diffuse emission of the scanning beams of the transmitting unit S2.

Mit der Abtastzone wird gezielt Störstrahlung nachgebildet, die beispielsweise durch Streuung in der Sendeeinheit S2, durch Reflexionen und/oder Remissionen an optischen Elementen wie z.B. Blenden oder Tuben sowie durch Defekte der Sendeoptik FS, z.B. Kratzer, Staub oder Schlieren an einer Sendelinse, hervorgerufen und von einem Störobjekt 15 auf die Empfangseinheit E reflektiert und/ oder remittiert wird.The scanning zone specifically reproduces interfering radiation, which is generated, for example, by scattering in the transmitting unit S2, by reflections and / or reflections on optical elements, such as e.g. Diaphragms or tubes as well as defects in the transmission optics FS, e.g. Scratches, dust or streaks on a transmitting lens, caused and reflected by a faulty object 15 on the receiving unit E and / or remittiert.

Fig. 3b zeigt die Intensitätsverteilungen der von den beiden Sendeeinheiten S1, S2 stammenden Empfangssignale. Es ist ein Fall dargestellt, bei dem aufgrund der vorstehend erwähnten Fehlerquellen auch im Meßkanal S1-E ausgesandte Strahlung auf das Störobjekt 15 trifft und von diesem auf die Empfangseinheit E reflektiert und/oder remittiert wird, wodurch an der Position X2 ein Intensitätspeak erzeugt wird. Der entsprechende Intensitätspeak der Sendeeinheit S2 des Zusatzkanals ist aufgrund der gezielten Nachbildung der Störstrahlung höher als derjenige des Meßkanals, in welchem mit fokussierten Abtaststrahlen 25 gearbeitet wird. An der Position X1 dagegen, die dem zu ermittelnden Objektabstand D entspricht, entsteht im Meßkanal S1-E ein höheres Empfangssignal als im Zusatzkanal S2-E, da die Intensitätsdichte der Abtastzone am Tastobjekt 13 geringer ist als diejenige der Abtaststrahlen 25, mit denen auf dem Tastobjekt 13 ein Tastfleck erzeugt wird.FIG. 3b shows the intensity distributions of the received signals originating from the two transmitting units S1, S2. It is shown a case in which due to the above-mentioned sources of error in the measuring channel S1-E emitted radiation strikes the interfering object 15 and reflected by this on the receiving unit E and / or remittiert, whereby at the position X2 an intensity peak is generated. The corresponding intensity peak of the transmitting unit S2 of the additional channel is higher than that of the measuring channel, in which focused scanning beams 25 are used, due to the targeted emulation of the interfering radiation. On the other hand, at the position X1, which corresponds to the object distance D to be determined, a higher received signal is produced in the measuring channel S1-E than in the additional channel S2-E, since the intensity density of the scanning zone on the scanning object 13 is less than that of the scanning beams 25 with which on the Tastobjekt 13 a Tastfleck is generated.

Die gemeinsame Auswertung der Empfangssignale der beiden Kanäle erfolgt dadurch, daß das Empfangssignal S2 des Zusatzkanals vom Empfangssignal S 1 des Meßkanals abgezogen wird und negative Differenzwerte gleich Null gesetzt werden. Übrig bleibt dann ein positives Differenzsignal an der dem Objektabstand D entsprechenden Position X1 auf der Empfangseinheit E. Dieses resultierende positive Differenzsignal wird dann für die Bestimmung des Objektabstands D verwendet.The common evaluation of the received signals of the two channels takes place in that the received signal S2 of the additional channel from the received signal S 1 of the measuring channel is subtracted and negative difference values are set equal to zero. What remains is then a positive difference signal at the object distance D corresponding position X1 on the receiving unit E. This resulting positive difference signal is then used for the determination of the object distance D.

In dem dargestellten Ausführungsbeispiel sind die Sendeeinheiten S1, S2 und die Empfangseinheit E in der gemeinsamen Sensorebene 21 angeordnet, wobei sich die Sendeeinheit S2 des Zusatzkanals, mittels welcher die räumlich ausgedehnte Abtastzone erzeugt wird, zwischen der Sendeeinheit S 1 des Meßkanals und der Empfangseinheit E befindet. Die Abbildung der von den beiden Sendeeinheiten S1, S2 ausgesandten Strahlen erfolgt durch die gemeinsame Sendeoptik FS. Die Intensitäten im Meßkanal und im Zusatzkanal werden derart gewählt, daß an der dem Störobjekt 15 entsprechenden Position X2 auf der Empfangseinheit E der Zusatzkanal ein höheres Signal liefert als der Meßkanal, wie es in Fig. 3b gezeigt ist, damit bei der Auswertung im Anschluß an die Bildung der Differenz zwischen den beiden Empfangssignalen lediglich an der dem Objektabstand D entsprechenden Position X1 ein positives Signal übrig bleibt.In the illustrated embodiment, the transmitting units S1, S2 and the receiving unit E are arranged in the common sensor plane 21, wherein the transmitting unit S2 of the additional channel, by means of which the spatially extended scanning zone is generated, between the transmitting unit S 1 of the measuring channel and the receiving unit E is located , The image of the beams emitted by the two transmission units S1, S2 is made by the common transmission optics FS. The intensities in the measuring channel and in the additional channel are selected such that at the position corresponding to the interfering object X2 on the receiving unit E, the additional channel delivers a higher signal than the measuring channel, as shown in Fig. 3b, so in the evaluation following the formation of the difference between the two received signals only at the object distance D corresponding position X1 a positive signal remains.

Die Fig. 4a und 4b zeigen ein weiteres Ausführungsbeispiel der Erfindung, das insbesondere dazu geeignet ist, den störenden Einfluß von sogenannten Kontrastkanten 17 auf dem Tastobjekt 13 unschädlich zu machen. Kontrastkanten können beispielsweise Übergänge zwischen dunklen und hellen Flächen in Schriftzügen auf dem Tastobjekt 13 sein. In der schematischen Darstellung der Fig. 4a ist ein Bereich mit geringem Reflexions- und/oder Remissionsvermögen schraffiert dargestellt. Der vom Sensor 11 ausgesandte Tastfleck 19 bedeckt gleichzeitig einen Bereich mit hohem und einen Bereich mit niedrigem Reflexions- und/oder Remissionsvermögen.FIGS. 4a and 4b show a further embodiment of the invention, which is particularly suitable for rendering harmless the disturbing influence of so-called contrast edges 17 on the touch object 13. Contrast edges can be, for example, transitions between dark and light areas in lettering on the touch object 13. In the schematic representation of FIG. 4a, an area with low reflection and / or remission power is shown hatched. The touch spot 19 emitted by the sensor 11 simultaneously covers a high area and an area with low reflectance and / or remission power.

Die empfangsseitige Auswirkung der Kontrastkante 17 ist in der die Empfangssignale auf den beiden Empfangseinheiten E1, E2 andeutenden Fig. 4b gezeigt. In dem die Tastobjektfläche mit geringem Reflexions- und/oder Remissionsvermögen entsprechenden Bereich ist das Empfangssignal niedriger.The reception-side effect of the contrast edge 17 is shown in FIG. 4b, which indicates the received signals on the two receiving units E1, E2. In the area corresponding to the touch object surface with low reflection and / or remission power, the received signal is lower.

Wäre lediglich eine Empfangseinheit und somit lediglich ein Empfangssignal vorhanden, so würde bei der Bildung des Schwerpunkts der Intensitätsverteilung, um die zur Bestimmung des Objektabstands D benötigte X-Position auf der Empfangseinheit zu ermitteln, eine Verfälschung auftreten, da diese X-Position in Richtung des ein hohes Reflexions- und/oder Remissionsvermögen aufweisenden Bereiches verschoben wäre.If only one receiving unit and thus only one received signal were present, a falsification would occur in the formation of the center of gravity of the intensity distribution in order to determine the X position required for determining the object distance D on the receiving unit, since this X position is in the direction of a high reflection and / or remission power having area would be moved.

Indem erfindungsgemäß mittels einer weiteren Empfangseinheit E2 ein Zusatzkanal geschaffen wird, der ein zusätzliches Empfangssignal liefert, in welchem sich die Kontrastkante 17 ebenfalls auswirkt, sind zwei Empfangssignale vorhanden, die jeweils einen von der Kontrastkante 17 herrührenden charakteristischen Bereich aufweisen, in dem sich die Intensität sprunghaft ändert.By according to the invention by means of a further receiving unit E2 an additional channel is provided which provides an additional received signal in which the contrast edge 17 also affects two receiving signals are present, each having a originating from the contrast edge 17 characteristic area in which the intensity is leaps and bounds changes.

Bei der Auswertung der Intensitätsverteilungen können diese charakteristischen Bereiche problemlos identifiziert und entsprechenden Positionen X1, X2 auf den Empfangseinheiten E1, E2 zugeordnet werden. Unabhängig von dem konkreten Verlauf der Intensitätsverteilungen der Empfangssignale bildet der Abstand ΔX der Positionen X1, X2 der charakteristischen Bereiche ein Maß für den zu ermittelnden Objektabstand D.When evaluating the intensity distributions, these characteristic regions can be easily identified and assigned to corresponding positions X1, X2 on the receiving units E1, E2. Regardless of the specific course of the intensity distributions of the received signals the distance ΔX of the positions X1, X2 of the characteristic areas forms a measure of the object distance D.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1111
Sensorsensor
1313
Tastobjektsensed object
1515
Störobjektobstruction
1717
Kontrastkantecontrast edge
1919
TastfleckTastfleck
2121
Sensorebenesensor level
2323
Sensorgehäusesensor housing
2525
Abtaststrahlenscanning
DD
Objektabstandobject distance
S, S1, S2S, S1, S2
Sendeeinheittransmission unit
E, E1, E2E, E1, E2
Empfangseinheitreceiver unit
FS, FS1, FS2FS, FS1, FS2
Sendeoptiktransmission optics
FE, FE1, FE2FE, FE1, FE2
Empfangsoptikreceiving optics

Claims (17)

Verfahren zum Bestimmen des Objektabstands (D) zwischen einem nach dem Triangulationsprinzip arbeitenden optoelektronischen Sensor (11) und einem Tastobjekt (13), - wobei der Sensor (11) wenigstens einen Meßkanal zwischen einer Sendeeinheit (S 1; S) zum Aussenden elektromagnetischer Abtaststrahlen in den Meßbereich und einer Empfangseinheit (E; E1) zum Nachweisen von aus dem Meßbereich reflektierten und/oder remittierten Abtaststrahlen aufweist, - wobei der Sensor (11) zumindest einen Zusatzkanal aufweist, der zusätzlich zu der Sendeeinheit (S1; S) und der Empfangseinheit (E; E1) des Meßkanals eine weitere Sendeeinheit (S2), und - wobei zur Bestimmung des Objektabstands (D) die Empfangssignale des Meßkanals und des Zusatzkanals gemeinsam ausgewertet werden, dadurch gekennzeichnet, dass - allein das Empfangssignal des Meßkanals zur Bestimmung eines Abstandswertes verwendet wird, - mittels des Empfangssignals des Zusatzkanals festgestellt wird, ob die Empfangssignale zumindest ein Zusatzkriterium erfüllen, und - bei erfülltem Zusatzkriterium der Abstandswert als Maß für den Objektabstand (D) verwendet wird. Method for determining the object distance (D) between an optoelectronic sensor (11) operating according to the triangulation principle and a touch object (13), - wherein the sensor (11) has at least one measuring channel between a transmitting unit (S 1; S) for emitting electromagnetic scanning beams into the measuring range and a receiving unit (E; E1) for detecting scanning beams reflected and / or remitted from the measuring range, - wherein the sensor (11) has at least one additional channel, in addition to the transmitting unit (S1; S) and the receiving unit (E; E1) of the measuring channel, a further transmitting unit (S2), and wherein the received signals of the measuring channel and of the additional channel are evaluated jointly for determining the object distance (D), characterized in that - Only the received signal of the measuring channel is used to determine a distance value, - Is determined by means of the received signal of the additional channel, whether the received signals meet at least one additional criterion, and - If the additional criterion is met, the distance value is used as a measure for the object distance (D). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Meßkanal und der Zusatzkanal für jeden Objektabstand (D) gemeinsam und insbesondere zumindest im wesentlichen gleichzeitig betrieben werden.A method according to claim 1, characterized in that the measuring channel and the additional channel for each object distance (D) are operated together and in particular at least substantially simultaneously. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass im Meßkanal die Intensitätsverteilung des Empfangssignals auf der Empfangseinheit (E) oder auf den Empfangseinheiten (E1, E2) für die Abstandsbestimmung verwendet wird.Method according to one of the preceding claims, characterized in that the intensity distribution of the received signal on the receiving unit (E) or on the receiving units (E1, E2) is used for the distance determination in the measuring channel. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass im Meßkanal die Lage eines Schwerpunkts der Intensitätsverteilung oder eines charakteristischen Bereiches der Intensitätsverteilung für die Abstandsbestimmung verwendet wird.A method according to claim 3, characterized in that in the measuring channel, the position of a center of gravity of the intensity distribution or a characteristic region of the intensity distribution is used for the distance determination. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass für den Meßkanal und den Zusatzkanal eine gemeinsame Empfangseinheit (E) verwendet wird.Method according to one of the preceding claims, characterized in that a common receiving unit (E) is used for the measuring channel and the additional channel. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Abtaststrahlen des Meßkanals und des Zusatzkanals in unterschiedliche Richtungen ausgesandt werden.Method according to one of the preceding claims, characterized in that the scanning beams of the measuring channel and of the additional channel are emitted in different directions. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bei der gemeinsamen Auswertung einander entsprechende charakteristische Bereiche der Empfangssignale des Meßkanals und des Zusatzkanals jeweils daraufhin untersucht werden, ob sie insbesondere um ein erwartetes Maß (a · ΔX) gegeneinander verschoben sind.Method according to one of the preceding claims, characterized in that in the common evaluation corresponding characteristic ranges of the received signals of the measuring channel and the additional channel are then respectively examined to see whether they are shifted in particular by an expected measure (a · ΔX) against each other. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Abtaststrahlen des Meßkanals und des Zusatzkanals auf unterschiedliche Entfernungen (d1, d2) fokussiert werden, wobei bevorzugt in einem Kanal auf einen Nahbereich und im anderen Kanal auf einen Fernbereich fokussiert wird.Method according to one of the preceding claims, characterized in that the scanning beams of the measuring channel and of the additional channel are focused at different distances (d1, d2), focusing preferably in one channel on a near range and in the other channel on a far range. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass bei der gemeinsamen Auswertung einander entsprechende charakteristische Bereiche der Empfangssignale des Meßkanals und des Zusatzkanals jeweils daraufhin untersucht werden, ob die ausgesandten Abtaststrahlen mit insbesondere gemäß einem erwarteten Maß unterschiedlicher Schärfe abgebildet werden.A method according to claim 8, characterized in that in the common evaluation, corresponding characteristic regions of the received signals of the measuring channel and the additional channel are respectively examined to see whether the emitted scanning beams are imaged in particular according to an expected degree of different sharpness. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Abtaststrahlen sowohl des Meßkanals als auch des Zusatzkanals fokussiert werden.Method according to one of the preceding claims, characterized in that the scanning beams of both the measuring channel and the additional channel are focused. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass für den Meßkanal und den Zusatzkanal jeweils eine eigene Empfangseinheit (E1, E2) und/oder eine eigene Empfangsoptik (FE1, FE2) verwendet wird, wobei bevorzugt eine gemeinsame Sendeeinheit (S) verwendet wird.Method according to one of claims 1 to 4, characterized in that for the measuring channel and the additional channel in each case a separate receiving unit (E1, E2) and / or its own receiving optics (FE1, FE2) is used, preferably a common transmitting unit (S) is used. Vorrichtung zum Bestimmen des Objektabstands (D) zwischen einem nach dem Triangulationsprinzip arbeitenden optoelektronischen Sensor (11) und einem Tastobjekt (13), - mit wenigstens einem Meßkanal zwischen einer Sendeeinheit (S 1; S) zum Aussenden elektromagnetischer Abtaststrahlen in den Meßbereich und einer Empfangseinheit (E; E1) zum Nachweisen von aus dem Meßbereich reflektierten und/oder remittierten Abtaststrahlen, - mit zumindest einem Zusatzkanal, der zusätzlich zu der Sendeeinheit (S1; S) und der Empfangseinheit (E; E1) des Meßkanals eine weitere Sendeeinheit (S2) aufweist, und - mit einer Auswerteeinheit zur gemeinsamen Auswertung der Empfangssignale des Meßkanals und des Zusatzkanals zur Bestimmung des Objektabstands (D), dadurch gekennzeichnet, dass - allein das Empfangssignal des Meßkanals zur Bestimmung eines Abstandswertes verwendet wird, - mittels des Empfangssignals des Zusatzkanals festgestellt wird, ob die Empfangssignale zumindest ein Zusatzkriterium erfüllen, und - bei erfülltem Zusatzkriterium der Abstandswert als Maß für den Objektabstand (D) verwendet wird. Device for determining the object distance (D) between an optoelectronic sensor (11) operating according to the triangulation principle and a sensing object (13), with at least one measuring channel between a transmitting unit (S 1, S) for emitting electromagnetic scanning beams into the measuring range and a receiving unit (E, E1) for detecting scanning beams reflected and / or remitted from the measuring range, - With at least one additional channel, which in addition to the transmitting unit (S1; S) and the receiving unit (E; E1) of the measuring channel has a further transmitting unit (S2), and with an evaluation unit for the common evaluation of the received signals of the measuring channel and of the additional channel for determining the object distance (D), characterized in that - Only the received signal of the measuring channel is used to determine a distance value, - Is determined by means of the received signal of the additional channel, whether the received signals meet at least one additional criterion, and - If the additional criterion is met, the distance value is used as a measure for the object distance (D). Vorrichtung nach Anspruch 12, dadurch gekennzeichnet, dass alle Sende- und Empfangseinheiten (S, S1, S2, E, E1, E2) in einer gemeinsamen Sensorebene (21) angeordnet sind, die bevorzugt senkrecht zu der dem kürzesten Abstand zwischen dem Sensor (11) und dem Tastobjekt (13) entsprechenden Abstandsrichtung verläuft.Apparatus according to claim 12, characterized in that all transmitting and receiving units (S, S1, S2, E, E1, E2) are arranged in a common sensor plane (21), which is preferably perpendicular to the shortest distance between the sensor (11 ) and the sensing object (13) corresponding distance direction runs. Vorrichtung nach Anspruch 12 oder 13, dadurch gekennzeichnet, dass jede Sendeeinheit (S, S1, S2) in Form einer LED oder einer Lasereinrichtung vorgesehen ist.Apparatus according to claim 12 or 13, characterized in that each transmitting unit (S, S1, S2) is provided in the form of an LED or a laser device. Vorrichtung nach einem der Ansprüche 12 bis 14, dadurch gekennzeichnet, dass die oder jede Empfangseinheit (E, E1, E2) in Form eines ortsauflösenden Detektors, insbesondere eines ein- oder mehrreihigen Fotodioden-Arrays, einer CCD (Charge Coupled Device) oder einer PSD (Position Sensitive Device) vorgesehen ist.Device according to one of claims 12 to 14, characterized in that the or each receiving unit (E, E1, E2) in the form of a spatially resolving detector, in particular a single or multi-row photodiode array, a CCD (Charge Coupled Device) or a PSD (Position Sensitive Device) is provided. Vorrichtung nach einem der Ansprüche 12 bis 15, dadurch gekennzeichnet, dass alle Sende- und Empfangseinheiten (S, S1, S2, E, E1, E2) in einem gemeinsamen Sensorgehäuse (23) angeordnet sind.Device according to one of claims 12 to 15, characterized in that all transmitting and receiving units (S, S1, S2, E, E1, E2) are arranged in a common sensor housing (23). Vorrichtung nach einem der Ansprüche 12 bis 16, dadurch gekennzeichnet, dass sie zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 11 verwendet wird.Device according to one of claims 12 to 16, characterized in that it is used for carrying out the method according to one of claims 1 to 11.
EP06018462.9A 2000-11-29 2001-11-06 Distance determination Expired - Lifetime EP1722191B1 (en)

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DE10059156A DE10059156A1 (en) 2000-11-29 2000-11-29 Triangulation method for determining object distances has an arrangement of two measurement channels that increases measurement accuracy by allowing detection of interference effects
EP01126323A EP1211478B1 (en) 2000-11-29 2001-11-06 Distance determination

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DE50112367D1 (en) 2007-05-31
US20020097404A1 (en) 2002-07-25
JP2002250623A (en) 2002-09-06
DE10059156A1 (en) 2002-06-06
ATE360189T1 (en) 2007-05-15
EP1722191B1 (en) 2019-05-22
US6781705B2 (en) 2004-08-24
EP1211478A2 (en) 2002-06-05
EP1211478A3 (en) 2003-04-16

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